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| 1 |
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{"episode_index": 0, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 117}
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| 2 |
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{"episode_index": 1, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 109}
|
| 3 |
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{"episode_index": 2, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 85}
|
| 4 |
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|
| 5 |
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|
| 6 |
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{"episode_index": 5, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 115}
|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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{"episode_index": 12, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 141}
|
| 14 |
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{"episode_index": 13, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 102}
|
| 15 |
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{"episode_index": 14, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 109}
|
| 16 |
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{"episode_index": 15, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 95}
|
| 17 |
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{"episode_index": 16, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 98}
|
| 18 |
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{"episode_index": 17, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 112}
|
| 19 |
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{"episode_index": 18, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 123}
|
| 20 |
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{"episode_index": 19, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 123}
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
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|
| 28 |
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{"episode_index": 27, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 123}
|
| 29 |
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|
| 30 |
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|
| 31 |
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{"episode_index": 30, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 120}
|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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{"episode_index": 34, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 112}
|
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| 489 |
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{"episode_index": 488, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 238}
|
| 490 |
+
{"episode_index": 489, "tasks": ["Use the right hand to grab the cylindrical container on the right side and pour its contents into the bowl", "valid"], "length": 162}
|
| 491 |
+
{"episode_index": 490, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 179}
|
| 492 |
+
{"episode_index": 491, "tasks": ["Use the right hand to grab the cylindrical container on the right side and pour its contents into the bowl", "valid"], "length": 198}
|
| 493 |
+
{"episode_index": 492, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 200}
|
| 494 |
+
{"episode_index": 493, "tasks": ["Use the right hand to grab the cylindrical container on the right side and pour its contents into the bowl", "valid"], "length": 136}
|
| 495 |
+
{"episode_index": 494, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 179}
|
| 496 |
+
{"episode_index": 495, "tasks": ["Use the right hand to grab the cylindrical container on the right side and pour its contents into the bowl", "valid"], "length": 129}
|
| 497 |
+
{"episode_index": 496, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 208}
|
| 498 |
+
{"episode_index": 497, "tasks": ["Use the right hand to grab the cylindrical container on the right side and pour its contents into the bowl", "valid"], "length": 129}
|
| 499 |
+
{"episode_index": 498, "tasks": ["Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl", "valid"], "length": 217}
|
| 500 |
+
{"episode_index": 499, "tasks": ["Use the right hand to grab the cylindrical container on the right side and pour its contents into the bowl", "valid"], "length": 115}
|
sim_mixed_40_60/meta/info.json
ADDED
|
@@ -0,0 +1,199 @@
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|
|
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|
|
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|
|
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|
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|
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|
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|
|
|
|
|
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|
|
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|
|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
| 1 |
+
{
|
| 2 |
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"codebase_version": "v2.0",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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"train": "0:100"
|
| 13 |
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},
|
| 14 |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
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"features": {
|
| 17 |
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"observation.state": {
|
| 18 |
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"dtype": "float32",
|
| 19 |
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"shape": [
|
| 20 |
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44
|
| 21 |
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],
|
| 22 |
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"names": [
|
| 23 |
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"left_arm_joint_1",
|
| 24 |
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"left_arm_joint_2",
|
| 25 |
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"left_arm_joint_3",
|
| 26 |
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"left_arm_joint_4",
|
| 27 |
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"left_arm_joint_5",
|
| 28 |
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"left_arm_joint_6",
|
| 29 |
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"left_arm_joint_7",
|
| 30 |
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"left_thumbCMC",
|
| 31 |
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"left_thumbMCP",
|
| 32 |
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"left_indexMCP",
|
| 33 |
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"left_middleMCP",
|
| 34 |
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"left_ringMCP",
|
| 35 |
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"left_littleMCP",
|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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"left_leg_3",
|
| 40 |
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"left_leg_4",
|
| 41 |
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|
| 42 |
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|
| 43 |
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"neck_1",
|
| 44 |
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"neck_2",
|
| 45 |
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"right_arm_joint_1",
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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"right_arm_joint_5",
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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"right_middleMCP",
|
| 56 |
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"right_rightMCP",
|
| 57 |
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"right_littleMCP",
|
| 58 |
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|
| 59 |
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"right_leg_1",
|
| 60 |
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|
| 61 |
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"right_leg_3",
|
| 62 |
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"right_leg_4",
|
| 63 |
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"right_leg_5",
|
| 64 |
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"waist_0",
|
| 65 |
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"waist_1",
|
| 66 |
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"waist_2"
|
| 67 |
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]
|
| 68 |
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},
|
| 69 |
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"action": {
|
| 70 |
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"dtype": "float32",
|
| 71 |
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"shape": [
|
| 72 |
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44
|
| 73 |
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],
|
| 74 |
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"names": [
|
| 75 |
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"left_arm_joint_1",
|
| 76 |
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|
| 77 |
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|
| 78 |
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"left_arm_joint_4",
|
| 79 |
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"left_arm_joint_5",
|
| 80 |
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"left_arm_joint_6",
|
| 81 |
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"left_arm_joint_7",
|
| 82 |
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"left_thumbCMC",
|
| 83 |
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"left_thumbMCP",
|
| 84 |
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"left_indexMCP",
|
| 85 |
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"left_middleMCP",
|
| 86 |
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"left_ringMCP",
|
| 87 |
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"left_littleMCP",
|
| 88 |
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"left_leg_0",
|
| 89 |
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"left_leg_1",
|
| 90 |
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"left_leg_2",
|
| 91 |
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"left_leg_3",
|
| 92 |
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"left_leg_4",
|
| 93 |
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"left_leg_5",
|
| 94 |
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"neck_0",
|
| 95 |
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"neck_1",
|
| 96 |
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"neck_2",
|
| 97 |
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"right_arm_joint_1",
|
| 98 |
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"right_arm_joint_2",
|
| 99 |
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"right_arm_joint_3",
|
| 100 |
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"right_arm_joint_4",
|
| 101 |
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"right_arm_joint_5",
|
| 102 |
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"right_arm_joint_6",
|
| 103 |
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"right_arm_joint_7",
|
| 104 |
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|
| 105 |
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"right_thumbMCP",
|
| 106 |
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|
| 107 |
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|
| 108 |
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"right_rightMCP",
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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"right_leg_3",
|
| 114 |
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"right_leg_4",
|
| 115 |
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"right_leg_5",
|
| 116 |
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|
| 117 |
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|
| 118 |
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"waist_2"
|
| 119 |
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|
| 120 |
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},
|
| 121 |
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"observation.images.ego_view": {
|
| 122 |
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"dtype": "video",
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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"video_info": {
|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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"dtype": "video",
|
| 136 |
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"shape": [
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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"video_info": {
|
| 142 |
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"fps": 20.0,
|
| 143 |
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"codec": "av1",
|
| 144 |
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"pix_fmt": "yuv420p"
|
| 145 |
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}
|
| 146 |
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},
|
| 147 |
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|
| 148 |
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"dtype": "video",
|
| 149 |
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|
| 150 |
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480,
|
| 151 |
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640,
|
| 152 |
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|
| 153 |
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|
| 154 |
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"video_info": {
|
| 155 |
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"fps": 20.0,
|
| 156 |
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"codec": "av1",
|
| 157 |
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"pix_fmt": "yuv420p"
|
| 158 |
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}
|
| 159 |
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}
|
| 160 |
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},
|
| 161 |
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"mixing": {
|
| 162 |
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"mode": "target_ratio",
|
| 163 |
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"real_path": "/home/sensethreat/lab_mimic/IsaacLab/datasets/pureSynthetic/sd/Lerobot/human",
|
| 164 |
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"real_episodes": 200,
|
| 165 |
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"synth_total_available": 350,
|
| 166 |
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"synth_selected": 300,
|
| 167 |
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|
| 168 |
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"synth_right_selected": 150,
|
| 169 |
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"target_real_pct": 40.0,
|
| 170 |
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"actual_real_pct": 40.0,
|
| 171 |
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"actual_synth_pct": 60.0,
|
| 172 |
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"seed": 42,
|
| 173 |
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"segments": [
|
| 174 |
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{
|
| 175 |
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"path": "/home/sensethreat/lab_mimic/IsaacLab/datasets/pureSynthetic/sd/Lerobot/left/0",
|
| 176 |
+
"side": "left",
|
| 177 |
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"episodes": 175
|
| 178 |
+
},
|
| 179 |
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{
|
| 180 |
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"path": "/home/sensethreat/lab_mimic/IsaacLab/datasets/pureSynthetic/sd/Lerobot/right/0",
|
| 181 |
+
"side": "right",
|
| 182 |
+
"episodes": 175
|
| 183 |
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}
|
| 184 |
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],
|
| 185 |
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"balance_info": {
|
| 186 |
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"left_available": 175,
|
| 187 |
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"right_available": 175,
|
| 188 |
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"left_needed": 150,
|
| 189 |
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"right_needed": 150,
|
| 190 |
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"left_selected": 150,
|
| 191 |
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"right_selected": 150,
|
| 192 |
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"shortfall_left": 0,
|
| 193 |
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"shortfall_right": 0
|
| 194 |
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},
|
| 195 |
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"a_episodes": 200,
|
| 196 |
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"b_total_episodes": 350,
|
| 197 |
+
"b_selected_episodes": 300
|
| 198 |
+
}
|
| 199 |
+
}
|
sim_mixed_40_60/meta/modality.json
ADDED
|
@@ -0,0 +1,88 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"left_arm": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 7
|
| 6 |
+
},
|
| 7 |
+
"left_hand": {
|
| 8 |
+
"start": 7,
|
| 9 |
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"end": 13
|
| 10 |
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},
|
| 11 |
+
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|
| 12 |
+
"start": 13,
|
| 13 |
+
"end": 19
|
| 14 |
+
},
|
| 15 |
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"neck": {
|
| 16 |
+
"start": 19,
|
| 17 |
+
"end": 22
|
| 18 |
+
},
|
| 19 |
+
"right_arm": {
|
| 20 |
+
"start": 22,
|
| 21 |
+
"end": 29
|
| 22 |
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},
|
| 23 |
+
"right_hand": {
|
| 24 |
+
"start": 29,
|
| 25 |
+
"end": 35
|
| 26 |
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},
|
| 27 |
+
"right_leg": {
|
| 28 |
+
"start": 35,
|
| 29 |
+
"end": 41
|
| 30 |
+
},
|
| 31 |
+
"waist": {
|
| 32 |
+
"start": 41,
|
| 33 |
+
"end": 44
|
| 34 |
+
}
|
| 35 |
+
},
|
| 36 |
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"action": {
|
| 37 |
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"left_arm": {
|
| 38 |
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"start": 0,
|
| 39 |
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"end": 7
|
| 40 |
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},
|
| 41 |
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"left_hand": {
|
| 42 |
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"start": 7,
|
| 43 |
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"end": 13
|
| 44 |
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},
|
| 45 |
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"left_leg": {
|
| 46 |
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"start": 13,
|
| 47 |
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"end": 19
|
| 48 |
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},
|
| 49 |
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"neck": {
|
| 50 |
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"start": 19,
|
| 51 |
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"end": 22
|
| 52 |
+
},
|
| 53 |
+
"right_arm": {
|
| 54 |
+
"start": 22,
|
| 55 |
+
"end": 29
|
| 56 |
+
},
|
| 57 |
+
"right_hand": {
|
| 58 |
+
"start": 29,
|
| 59 |
+
"end": 35
|
| 60 |
+
},
|
| 61 |
+
"right_leg": {
|
| 62 |
+
"start": 35,
|
| 63 |
+
"end": 41
|
| 64 |
+
},
|
| 65 |
+
"waist": {
|
| 66 |
+
"start": 41,
|
| 67 |
+
"end": 44
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"video": {
|
| 71 |
+
"ego_view": {
|
| 72 |
+
"original_key": "observation.images.ego_view"
|
| 73 |
+
},
|
| 74 |
+
"left_wrist_view": {
|
| 75 |
+
"original_key": "observation.images.left_wrist_view"
|
| 76 |
+
},
|
| 77 |
+
"right_wrist_view": {
|
| 78 |
+
"original_key": "observation.images.right_wrist_view"
|
| 79 |
+
}
|
| 80 |
+
},
|
| 81 |
+
"annotation": {
|
| 82 |
+
"human.action.task_description": {},
|
| 83 |
+
"human.validity": {},
|
| 84 |
+
"human.coarse_action": {
|
| 85 |
+
"original_key": "annotation.human.action.task_description"
|
| 86 |
+
}
|
| 87 |
+
}
|
| 88 |
+
}
|
sim_mixed_40_60/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Use the left hand to grab the cylindrical container on the left side and pour its contents into the bowl"}
|
| 2 |
+
{"task_index": 1, "task": "valid"}
|
| 3 |
+
{"task_index": 2, "task": "Use the right hand to grab the cylindrical container on the right side and pour its contents into the bowl"}
|